Perforated Capsule Hook for Stable High Speed Retract

ABSTRACT

A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.

An unmanned vehicle, which may also be referred to as an autonomousvehicle, is a vehicle capable of travel without a physically-presenthuman operator. An unmanned vehicle may operate in a remote-controlmode, in an autonomous mode, or in a partially autonomous mode.

When an unmanned vehicle operates in a remote-control mode, a pilot ordriver that is at a remote location can control the unmanned vehicle viacommands that are sent to the unmanned vehicle via a wireless link. Whenthe unmanned vehicle operates in autonomous mode, the unmanned vehicletypically moves based on pre-programmed navigation waypoints, dynamicautomation systems, or a combination of these. Further, some unmannedvehicles can operate in both a remote-control mode and an autonomousmode, and in some instances may do so simultaneously. For instance, aremote pilot or driver may wish to leave navigation to an autonomoussystem while manually performing another task, such as operating amechanical system for picking up objects, as an example.

Various types of unmanned vehicles exist for various differentenvironments. For instance, unmanned vehicles exist for operation in theair, on the ground, underwater, and in space. Examples includequad-copters and tail-sitter UAVs, among others. Unmanned vehicles alsoexist for hybrid operations in which multi-environment operation ispossible. Examples of hybrid unmanned vehicles include an amphibiouscraft that is capable of operation on land as well as on water or afloatplane that is capable of landing on water as well as on land. Otherexamples are also possible.

UAVs may be used to deliver a payload to, or retrieve a payload from, anindividual or business. A payload may be automatically retrieved bylowering a payload coupling apparatus and automatically retrieving thepayload from a payload retrieval apparatus. For example, the payload mayhave a handle that may be secured to a payload coupling apparatus at theend of the winch, or a handle that may be secured within the UAV. Duringautomatic retrieval, the payload coupling apparatus may have a hook orlip beneath a slot, the hook or lip or the payload coupling apparatusmay be extended through an aperture in the handle of the payload tosecure the payload to the payload coupling apparatus.

The payload coupling apparatus may provide for automated delivery of thepayload as well. Upon arriving at a payload delivery site, the payloadcoupling apparatus and attached payload may be lowered by a winch withinthe UAV and the payload may land on the ground or payload receivingapparatus. Once the payload contacts the ground or payload receivingapparatus, the payload coupling apparatus may be further lowered by thewinch and automatically disengage from the handle of the payload. Oncethe payload coupling apparatus is disengaged from the payload, the UAVmay move into forward flight to another payload retrieval site orcharging station, with the payload coupling apparatus suspended from theUAV at the end of the winch line. As the UAV moves forward, the payloadcoupling apparatus may be winched back towards the UAV. However, forwardmovement and retraction of the UAV may result in undesirableoscillations and instability in the payload coupling apparatus causingthe payload coupling apparatus to move wildly where it may contact theUAV during flight. As a result, the speed at which the UAV may moveforward during payload coupling apparatus retraction may need to bereduced.

Therefore, it would be desirable to provide a payload coupling apparatusthat allows for stable retraction of the payload coupling apparatusthrough a wide range of air speeds, and at a full cruise speed of 25-35m/s, or more.

SUMMARY

The present embodiments advantageously provide a payload couplingapparatus that has the same hook and lip construction as a smooth-walledpayload coupling apparatus, but advantageously includes a series ofperforations or holes in the major surfaces of the payload couplingapparatus which allow the payload coupling apparatus to remain stableeven at increased air speeds of 25-35 m/s or more. The series ofperforations or holes serve to stabilize the payload coupling apparatusso that it remains in a relatively stable state during high speed UAVflight of 25-35 m/s or more.

A series of holes or elongated holes (hereafter “holes”) that arepositioned on the major surfaces of the payload coupling apparatus. Inparticular, the payload coupling apparatus may have ahemispherically-shaped upper portion where a tether may be attached, orextend through for internal attachment, at a centrally located point. Aseries of holes are positioned on the hemispherically-shaped upperportion, which may have an equal spacing therebetween. A side wall ofthe payload coupling apparatus beneath the hemispherically-shaped uppersurface may also be provided with holes, and cams on the side walls alsomay include holes therein.

Similarly, the hook or lip of the payload coupling apparatus has holespositioned therein that extend from the slot through the upper and lowersurfaces of the hook or lip. In addition, an upper surface of the slotincludes one or more holes therein that extend from the slot into aninterior of the payload coupling apparatus.

The holes extend through outer surfaces of the payload couplingapparatus into a hollow interior of the payload coupling apparatus. As aresult, air is allowed to flow through the payload coupling apparatus,i.e. through the holes on the hemispherically-shaped upper portion andthrough the holes in the upper and lower surfaces of the slot and hookor lip, during high speed flight which allows for the payload couplingapparatus to remain in a stable position during retraction as the UAVmoves at full cruise speed of 25-35 m/s or more.

In one aspect, a payload coupling apparatus is provided that includes ahousing having an upper portion, a lower portion, and a side wallpositioned between the upper and lower portions, an attachment point onthe housing adapted for attachment to a first end of a tether, a slot inthe housing that extends downwardly towards a center of the housingthereby forming a hook or lip on the lower portion of the housingbeneath the slot, a plurality of holes in the upper portion of thehousing; and a plurality of holes in the lower portion of the housing.

In another aspect, a method of retracting a payload coupling apparatusto a UAV is provided including (i) providing the payload couplingapparatus with a housing having an upper portion and a lower portion,and a side wall positioned between the upper portion and the lowerportion, the housing attached to a first end of a tether with a secondend of the tether attached to the UAV, a slot in the housing thatextends downwardly towards a center of the housing thereby forming ahook or lip on the lower portion of the housing beneath the slot, aplurality of holes in the upper portion of the housing, a plurality ofholes in the side wall of the housing, and a plurality of holespositioned in the lower portion of the housing; (ii) moving the UAVforward at a rate of 25-35 m/s; (iii) retracting the payload couplingapparatus towards the UAV with the tether as the UAV moves forward at arate of 25-35 m/s; and (iv) wherein the payload coupling apparatusremains stable during retraction of the payload coupling apparatus.

The present embodiments further provide a system for retracting apayload coupling apparatus with means for providing stable, non-erraticpayload coupling apparatus retraction at UAV cruise speed.

These as well as other aspects, advantages, and alternatives will becomeapparent to those of ordinary skill in the art by reading the followingdetailed description with reference where appropriate to theaccompanying drawings. Further, it should be understood that thedescription provided in this summary section and elsewhere in thisdocument is intended to illustrate the claimed subject matter by way ofexample and not by way of limitation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of an example unmanned aerial vehicle 100,according to an example embodiment.

FIG. 2 is a simplified block diagram illustrating components of anunmanned aerial vehicle, according to an example embodiment.

FIG. 3 is a simplified block diagram illustrating a UAV system,according to an example.

FIG. 4A is a perspective front left side view of payload couplingapparatus 800, according to an example embodiment.

FIG. 4B is a perspective front right side view of payload couplingapparatus 800 shown in FIG. 4A.

FIG. 4C is another perspective front right side view of payload couplingapparatus 800 shown in FIGS. 4A and 4B.

FIG. 4D is a perspective rear left side view of payload couplingapparatus 800 shown in FIGS. 4A-C.

FIG. 4E is another perspective rear left side view of payload couplingapparatus 800 shown in FIGS. 4A-D.

FIG. 4F is another perspective front left side view of payload couplingapparatus 800 shown in FIGS. 4A-E.

FIG. 5A is a left side view of payload coupling apparatus 800, accordingto an example embodiment.

FIG. 5B is a right side view of payload retriever 800 shown in FIG. 5A.

FIG. 5C is a rear view of payload retriever 800 shown in FIGS. 5A and5B.

FIG. 5D is a front view of payload retriever 800 shown in FIGS. 5A-C.

FIG. 5E is a bottom view of payload retriever 800 shown in FIGS. 5A-D.

FIG. 5F is a top view of payload retriever 800 shown in FIGS. 5A-E.

FIG. 6A is an exploded view of payload retriever 800 with left side 800a separated from right side 800 b shown with disc insert 950, accordingto an example embodiment.

FIG. 6B is another exploded view of payload retriever 800 with left side800 a separated from right side 800 b shown with disc insert 950,according to an example embodiment.

FIG. 7 is a side view of payload handle 511, according to an exampleembodiment.

FIG. 8A is a perspective view of payload 510 and payload couplingapparatus 800 shown suspended by tether 990 from a UAV, above payloadlanding site 980, according to an example embodiment.

FIG. 8B is a perspective view of payload 510 and payload couplingapparatus 800 being lowered by a UAV onto payload landing site 980.

FIG. 8C is a perspective view of payload 510 positioned on payloadlanding site 980 after payload coupling apparatus 800 has been loweredand moved out of engagement with handle 511 of payload 510.

FIG. 8D is a perspective view of payload coupling apparatus 800 beingretracted to UAV 100 after delivery of payload 510.

FIG. 8E is a perspective view of payload coupling apparatus 800 beingretracted towards payload coupling apparatus receptacle 516, accordingto an example embodiment.

FIGS. 9A and 9B are a perspective side by side view of payload couplingapparatus 800 and payload coupling apparatus 800′.

DETAILED DESCRIPTION

Exemplary methods and systems are described herein. It should beunderstood that the word “exemplary” is used herein to mean “serving asan example, instance, or illustration.” Any implementation or featuredescribed herein as “exemplary” or “illustrative” is not necessarily tobe construed as preferred or advantageous over other implementations orfeatures. In the figures, similar symbols typically identify similarcomponents, unless context dictates otherwise. The exampleimplementations described herein are not meant to be limiting. It willbe readily understood that the aspects of the present disclosure, asgenerally described herein, and illustrated in the figures, can bearranged, substituted, combined, separated, and designed in a widevariety of different configurations, all of which are contemplatedherein.

I. Overview

As noted above, the payload coupling apparatus may provide for automateddelivery of the payload. Upon arriving at a payload delivery site, thepayload coupling apparatus and attached payload may be lowered by awinch within the UAV and the payload may land on the ground or payloadreceiving apparatus. Once the payload contacts the ground or payloadreceiving apparatus, the payload coupling apparatus may be furtherlowered by the winch and automatically disengage from the handle of thepayload. Once the payload coupling apparatus is disengaged from thepayload, the UAV may move into forward flight to another payloadretrieval site or charging station, with the payload coupling apparatussuspended from the UAV at the end of the winch line. As the UAV movesforward, the payload coupling apparatus may be winched back towards theUAV. In this manner, the UAV does not have to wait until the payloadcoupling apparatus has been winched back to the UAV before the UAV movestowards the next destination.

Following payload delivery, the payload coupling apparatus is subject tooscillations, and may begin to swing from side to side. In order todampen the oscillations, the UAV moves into a forward flight whereairflow serves to reduce oscillations of the payload coupling apparatus.When using a solid, smooth-walled payload coupling apparatus, forwardmovement of the UAV at air speeds of around 20 meters per second (m/s)may be effective to dampen the oscillations of the payload couplingapparatus. However, if the air speed is too low, less than 19 m/s, thenthe dampening effect on the oscillations of the payload might not besufficient. In addition, at speeds above 22 m/s, the payload couplingapparatus becomes unstable with the increased airflow and bounces aroundwildly and may strike the UAV, and there is the possibility ofengagement with the rotors of the UAV. Therefore, when using a solid,smooth-walled payload coupling apparatus, a range of air speeds from19-22 m/s is suitable to dampen the oscillations of the payload couplingapparatus. Air speeds in the range of 19-22 m/s, depending on the UAV,may be too slow for the UAV to be “on the wing” in full forward flightrequiring that the hover motors of the UAV are still running, whichincreases energy consumption and reduces the range of the UAV.

The present embodiments are directed to a payload coupling apparatusthat has the same hook and lip construction as a standard smooth-walledpayload coupling apparatus, but advantageously includes a series ofperforations, or holes, in the major surfaces of the payload couplingapparatus which allow the payload coupling apparatus to remain stableeven at increased air speeds of 25-35 m/s or more. The series ofperforations or holes serve to stabilize the payload coupling apparatusduring retraction so that it remains in a calm, non-erratic state duringhigh speed UAV flight of 25-35 m/s or more.

The perforations may include a series of holes that are symmetricallypositioned on the major surfaces of the payload coupling apparatus. Theholes also may not be symmetrically positioned, but may be positioned toprovide aerodynamic symmetry in such a manner that the holes “act”symmetrically. The holes also may be positioned in a non-symmetricalfashion, although holes positioned to provide aerodynamic symmetry arepreferred. In particular, the payload coupling apparatus may have ahemispherically-shaped upper portion with a centrally located tetherattachment point, or hole through which the tether may extend forinternal attachment, that may be used to secure the payload couplingapparatus to a tether that is attached to a UAV. A series of holes aresymmetrically positioned on the hemispherically-shaped upper portion,which may have an equal spacing therebetween. If the holes are notpositioned symmetrically or in a manner to provide aerodynamic symmetry,an undesirable oscillatory up and down motion may result during flight.A side wall of the payload coupling apparatus beneath thehemispherically-shaped upper portion may also be provided having holes,and cams on the side wall also may include holes therein.

Similarly, the hook or lip of the payload coupling apparatus may haveholes positioned therein that extend from the slot through the uppersurface of the hook or lip, as well as holes positioned in the lowersurface of the hook or lip. In addition, an upper surface of the slotmay include one or more holes that extend from the slot into an interiorof the payload coupling apparatus.

The holes extend through outer surfaces of the payload couplingapparatus into a hollow interior of the payload coupling apparatus. As aresult, air is allowed to flow through the payload coupling apparatus,i.e. through the holes on the hemispherically-shaped upper surface andthrough the holes in the upper and lower surfaces of the slot and hookor lip, during high speed flight which allows for the payload couplingapparatus to remain in a stable position during retraction as the UAVmoves at full cruise speed of 25-35 m/s or more.

In addition, a weighted disc may be positioned within the payloadcoupling apparatus to provide a “weight-forward” payload couplingapparatus which contributes to increased high speed stability. Due toless material used for the payload coupling apparatus because of theholes, the disc may add weight to the payload coupling apparatus so thata desired overall weight may be achieved.

Furthermore, the weighted disc may have a centrally located aperture, ora plurality of holes, that provides an aerodynamic influence on thepayload coupling apparatus. The size of the centrally located apertureof plurality of holes in the weighted disc may be adjusted so that thepayload coupling apparatus rides higher or lower in the air columnduring retraction as the UAV moves at full cruise speed. It is desirablefor the payload coupling apparatus to ride as low as possible in the aircolumn so that it is further away from the UAV during flight, therebyfurther reducing the chance of the payload coupling apparatus cominginto contact with the UAV during flight.

II. Illustrative Unmanned Vehicles

Herein, the terms “unmanned aerial vehicle” and “UAV” refer to anyautonomous or semi-autonomous vehicle that is capable of performing somefunctions without a physically present human pilot.

A UAV can take various forms. For example, a UAV may take the form of afixed-wing aircraft, a glider aircraft, a tail-sitter aircraft, a jetaircraft, a ducted fan aircraft, a lighter-than-air dirigible such as ablimp or steerable balloon, a rotorcraft such as a helicopter ormulticopter, and/or an ornithopter, among other possibilities. Further,the terms “drone,” “unmanned aerial vehicle system” (UAVS), or “unmannedaerial system” (UAS) may also be used to refer to a UAV.

FIG. 1 is an isometric view of an example UAV 100. UAV 100 includes wing102, booms 104, and a fuselage 106. Wings 102 may be stationary and maygenerate lift based on the wing shape and the UAV's forward airspeed.For instance, the two wings 102 may have an airfoil-shaped cross sectionto produce an aerodynamic force on UAV 100. In some embodiments, wing102 may carry horizontal propulsion units 108, and booms 104 may carryvertical propulsion units 110. In operation, power for the propulsionunits may be provided from a battery compartment 112 of fuselage 106. Insome embodiments, fuselage 106 also includes an avionics compartment114, an additional battery compartment (not shown) and/or a deliveryunit (not shown, e.g., a winch system) for handling the payload. In someembodiments, fuselage 106 is modular, and two or more compartments(e.g., battery compartment 112, avionics compartment 114, other payloadand delivery compartments) are detachable from each other and securableto each other (e.g., mechanically, magnetically, or otherwise) tocontiguously form at least a portion of fuselage 106.

In some embodiments, booms 104 terminate in rudders 116 for improved yawcontrol of UAV 100. Further, wings 102 may terminate in wing tips 117for improved control of lift of the UAV.

In the illustrated configuration, UAV 100 includes a structural frame.The structural frame may be referred to as a “structural H-frame” or an“H-frame” (not shown) of the UAV. The H-frame may include, within wings102, a wing spar (not shown) and, within booms 104, boom carriers (notshown). In some embodiments the wing spar and the boom carriers may bemade of carbon fiber, hard plastic, aluminum, light metal alloys, orother materials. The wing spar and the boom carriers may be connectedwith clamps. The wing spar may include pre-drilled holes for horizontalpropulsion units 108, and the boom carriers may include pre-drilledholes for vertical propulsion units 110.

In some embodiments, fuselage 106 may be removably attached to theH-frame (e.g., attached to the wing spar by clamps, configured withgrooves, protrusions or other features to mate with correspondingH-frame features, etc.). In other embodiments, fuselage 106 similarlymay be removably attached to wings 102. The removable attachment offuselage 106 may improve quality and or modularity of UAV 100. Forexample, electrical/mechanical components and/or subsystems of fuselage106 may be tested separately from, and before being attached to, theH-frame. Similarly, printed circuit boards (PCBs) 118 may be testedseparately from, and before being attached to, the boom carriers,therefore eliminating defective parts/subassemblies prior to completingthe UAV. For example, components of fuselage 106 (e.g., avionics,battery unit, delivery units, an additional battery compartment, etc.)may be electrically tested before fuselage 106 is mounted to theH-frame. Furthermore, the motors and the electronics of PCBs 118 mayalso be electrically tested before the final assembly. Generally, theidentification of the defective parts and subassemblies early in theassembly process lowers the overall cost and lead time of the UAV.Furthermore, different types/models of fuselage 106 may be attached tothe H-frame, therefore improving the modularity of the design. Suchmodularity allows these various parts of UAV 100 to be upgraded withouta substantial overhaul to the manufacturing process.

In some embodiments, a wing shell and boom shells may be attached to theH-frame by adhesive elements (e.g., adhesive tape, double-sided adhesivetape, glue, etc.). Therefore, multiple shells may be attached to theH-frame instead of having a monolithic body sprayed onto the H-frame. Insome embodiments, the presence of the multiple shells reduces thestresses induced by the coefficient of thermal expansion of thestructural frame of the UAV. As a result, the UAV may have betterdimensional accuracy and/or improved reliability.

Moreover, in at least some embodiments, the same H-frame may be usedwith the wing shell and/or boom shells having different size and/ordesign, therefore improving the modularity and versatility of the UAVdesigns. The wing shell and/or the boom shells may be made of relativelylight polymers (e.g., closed cell foam) covered by the harder, butrelatively thin, plastic skins.

The power and/or control signals from fuselage 106 may be routed to PCBs118 through cables running through fuselage 106, wings 102, and booms104. In the illustrated embodiment, UAV 100 has four PCBs, but othernumbers of PCBs are also possible. For example, UAV 100 may include twoPCBs, one per the boom. The PCBs carry electronic components 119including, for example, power converters, controllers, memory, passivecomponents, etc. In operation, propulsion units 108 and 110 of UAV 100are electrically connected to the PCBs.

Many variations on the illustrated UAV are possible. For instance,fixed-wing UAVs may include more or fewer rotor units (vertical orhorizontal), and/or may utilize a ducted fan or multiple ducted fans forpropulsion. Further, UAVs with more wings (e.g., an “x-wing”configuration with four wings), are also possible. Although FIG. 1illustrates two wings 102, two booms 104, two horizontal propulsionunits 108, and six vertical propulsion units 110 per boom 104, it shouldbe appreciated that other variants of UAV 100 may be implemented withmore or less of these components. For example, UAV 100 may include fourwings 102, four booms 104, and more or less propulsion units (horizontalor vertical).

Many variations on the illustrated fixed-wing UAV are possible. Forinstance, fixed-wing UAVs may include more or fewer propellers, and/ormay utilize a ducted fan or multiple ducted fans for propulsion.Further, UAVs with more wings (e.g., an “x-wing” configuration with fourwings), with fewer wings, or even with no wings, are also possible.

It should be understood that references herein to an “unmanned” aerialvehicle or UAV can apply equally to autonomous and semi-autonomousaerial vehicles. In an autonomous implementation, all functionality ofthe aerial vehicle is automated; e.g., pre-programmed or controlled viareal-time computer functionality that responds to input from varioussensors and/or pre-determined information. In a semi-autonomousimplementation, some functions of an aerial vehicle may be controlled bya human operator, while other functions are carried out autonomously.Further, in some embodiments, a UAV may be configured to allow a remoteoperator to take over functions that can otherwise be controlledautonomously by the UAV. Yet further, a given type of function may becontrolled remotely at one level of abstraction and performedautonomously at another level of abstraction. For example, a remoteoperator could control high level navigation decisions for a UAV, suchas by specifying that the UAV should travel from one location to another(e.g., from a warehouse in a suburban area to a delivery address in anearby city), while the UAV's navigation system autonomously controlsmore fine-grained navigation decisions, such as the specific route totake between the two locations, specific flight controls to achieve theroute and avoid obstacles while navigating the route, and so on.

More generally, it should be understood that the example UAVs describedherein are not intended to be limiting. Example embodiments may relateto, be implemented within, or take the form of any type of unmannedaerial vehicle.

III. Illustrative UAV Components

FIG. 2 is a simplified block diagram illustrating components of a UAV200, according to an example embodiment. UAV 200 may take the form of,or be similar in form to, one of the UAVs 100, 120, 140, 160, and 180described in reference to FIGS. 1A-1E. However, UAV 200 may also takeother forms.

UAV 200 may include various types of sensors, and may include acomputing system configured to provide the functionality describedherein. In the illustrated embodiment, the sensors of UAV 200 include aninertial measurement unit (IMU) 202, ultrasonic sensor(s) 204, and a GPS206, among other possible sensors and sensing systems.

In the illustrated embodiment, UAV 200 also includes one or moreprocessors 208. A processor 208 may be a general-purpose processor or aspecial purpose processor (e.g., digital signal processors, applicationspecific integrated circuits, etc.). The one or more processors 208 canbe configured to execute computer-readable program instructions 212 thatare stored in the data storage 210 and are executable to provide thefunctionality of a UAV described herein.

The data storage 210 may include or take the form of one or morecomputer-readable storage media that can be read or accessed by at leastone processor 208. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with at least one of the one or moreprocessors 208. In some embodiments, the data storage 210 can beimplemented using a single physical device (e.g., one optical, magnetic,organic or other memory or disc storage unit), while in otherembodiments, the data storage 210 can be implemented using two or morephysical devices.

As noted, the data storage 210 can include computer-readable programinstructions 212 and perhaps additional data, such as diagnostic data ofthe UAV 200. As such, the data storage 210 may include programinstructions 212 to perform or facilitate some or all of the UAVfunctionality described herein. For instance, in the illustratedembodiment, program instructions 212 include a navigation module 214 anda tether control module 216.

A. Sensors

In an illustrative embodiment, IMU 202 may include both an accelerometerand a gyroscope, which may be used together to determine an orientationof the UAV 200. In particular, the accelerometer can measure theorientation of the vehicle with respect to earth, while the gyroscopemeasures the rate of rotation around an axis. IMUs are commerciallyavailable in low-cost, low-power packages. For instance, an IMU 202 maytake the form of or include a miniaturized MicroElectroMechanical System(MEMS) or a NanoElectroMechanical System (NEMS). Other types of IMUs mayalso be utilized.

An IMU 202 may include other sensors, in addition to accelerometers andgyroscopes, which may help to better determine position and/or help toincrease autonomy of the UAV 200. Two examples of such sensors aremagnetometers and pressure sensors. In some embodiments, a UAV mayinclude a low-power, digital 3-axis magnetometer, which can be used torealize an orientation independent electronic compass for accurateheading information. However, other types of magnetometers may beutilized as well. Other examples are also possible. Further, note that aUAV could include some or all of the above-described inertia sensors asseparate components from an IMU.

UAV 200 may also include a pressure sensor or barometer, which can beused to determine the altitude of the UAV 200. Alternatively, othersensors, such as sonic altimeters or radar altimeters, can be used toprovide an indication of altitude, which may help to improve theaccuracy of and/or prevent drift of an IMU.

In a further aspect, UAV 200 may include one or more sensors that allowthe UAV to sense objects in the environment. For instance, in theillustrated embodiment, UAV 200 includes ultrasonic sensor(s) 204.Ultrasonic sensor(s) 204 can determine the distance to an object bygenerating sound waves and determining the time interval betweentransmission of the wave and receiving the corresponding echo off anobject. A typical application of an ultrasonic sensor for unmannedvehicles or IMUs is low-level altitude control and obstacle avoidance.An ultrasonic sensor can also be used for vehicles that need to hover ata certain height or need to be capable of detecting obstacles. Othersystems can be used to determine, sense the presence of, and/ordetermine the distance to nearby objects, such as a light detection andranging (LIDAR) system, laser detection and ranging (LADAR) system,and/or an infrared or forward-looking infrared (FLIR) system, amongother possibilities.

In some embodiments, UAV 200 may also include one or more imagingsystem(s). For example, one or more still and/or video cameras may beutilized by UAV 200 to capture image data from the UAV's environment. Asa specific example, charge-coupled device (CCD) cameras or complementarymetal-oxide-semiconductor (CMOS) cameras can be used with unmannedvehicles. Such imaging sensor(s) have numerous possible applications,such as obstacle avoidance, localization techniques, ground tracking formore accurate navigation (e.g., by applying optical flow techniques toimages), video feedback, and/or image recognition and processing, amongother possibilities.

UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may beconfigured to provide data that is typical of well-known GPS systems,such as the GPS coordinates of the UAV 200. Such GPS data may beutilized by the UAV 200 for various functions. As such, the UAV may useits GPS receiver 206 to help navigate to the caller's location, asindicated, at least in part, by the GPS coordinates provided by theirmobile device. Other examples are also possible.

B. Navigation and Location Determination

The navigation module 214 may provide functionality that allows the UAV200 to, e.g., move about its environment and reach a desired location.To do so, the navigation module 214 may control the altitude and/ordirection of flight by controlling the mechanical features of the UAVthat affect flight (e.g., its rudder(s), elevator(s), aileron(s), and/orthe speed of its propeller(s)).

In order to navigate the UAV 200 to a target location, the navigationmodule 214 may implement various navigation techniques, such asmap-based navigation and localization-based navigation, for instance.With map-based navigation, the UAV 200 may be provided with a map of itsenvironment, which may then be used to navigate to a particular locationon the map. With localization-based navigation, the UAV 200 may becapable of navigating in an unknown environment using localization.Localization-based navigation may involve the UAV 200 building its ownmap of its environment and calculating its position within the mapand/or the position of objects in the environment. For example, as a UAV200 moves throughout its environment, the UAV 200 may continuously uselocalization to update its map of the environment. This continuousmapping process may be referred to as simultaneous localization andmapping (SLAM). Other navigation techniques may also be utilized.

In some embodiments, the navigation module 214 may navigate using atechnique that relies on waypoints. In particular, waypoints are sets ofcoordinates that identify points in physical space. For instance, anair-navigation waypoint may be defined by a certain latitude, longitude,and altitude. Accordingly, navigation module 214 may cause UAV 200 tomove from waypoint to waypoint, in order to ultimately travel to a finaldestination (e.g., a final waypoint in a sequence of waypoints).

In a further aspect, the navigation module 214 and/or other componentsand systems of the UAV 200 may be configured for “localization” to moreprecisely navigate to the scene of a target location. More specifically,it may be desirable in certain situations for a UAV to be within athreshold distance of the target location where a payload 228 is beingdelivered by a UAV (e.g., within a few feet of the target destination).To this end, a UAV may use a two-tiered approach in which it uses amore-general location-determination technique to navigate to a generalarea that is associated with the target location, and then use amore-refined location-determination technique to identify and/ornavigate to the target location within the general area.

For example, the UAV 200 may navigate to the general area of a targetdestination where a payload 228 is being delivered using waypointsand/or map-based navigation. The UAV may then switch to a mode in whichit utilizes a localization process to locate and travel to a morespecific location. For instance, if the UAV 200 is to deliver a payloadto a user's home, the UAV 200 may need to be substantially close to thetarget location in order to avoid delivery of the payload to undesiredareas (e.g., onto a roof, into a pool, onto a neighbor's property,etc.). However, a GPS signal may only get the UAV 200 so far (e.g.,within a block of the user's home). A more preciselocation-determination technique may then be used to find the specifictarget location.

Various types of location-determination techniques may be used toaccomplish localization of the target delivery location once the UAV 200has navigated to the general area of the target delivery location. Forinstance, the UAV 200 may be equipped with one or more sensory systems,such as, for example, ultrasonic sensors 204, infrared sensors (notshown), and/or other sensors, which may provide input that thenavigation module 214 utilizes to navigate autonomously orsemi-autonomously to the specific target location.

As another example, once the UAV 200 reaches the general area of thetarget delivery location (or of a moving subject such as a person ortheir mobile device), the UAV 200 may switch to a “fly-by-wire” modewhere it is controlled, at least in part, by a remote operator, who cannavigate the UAV 200 to the specific target location. To this end,sensory data from the UAV 200 may be sent to the remote operator toassist them in navigating the UAV 200 to the specific location.

As yet another example, the UAV 200 may include a module that is able tosignal to a passer-by for assistance in either reaching the specifictarget delivery location; for example, the UAV 200 may display a visualmessage requesting such assistance in a graphic display, play an audiomessage or tone through speakers to indicate the need for suchassistance, among other possibilities. Such a visual or audio messagemight indicate that assistance is needed in delivering the UAV 200 to aparticular person or a particular location, and might provideinformation to assist the passer-by in delivering the UAV 200 to theperson or location (e.g., a description or picture of the person orlocation, and/or the person or location's name), among otherpossibilities. Such a feature can be useful in a scenario in which theUAV is unable to use sensory functions or another location-determinationtechnique to reach the specific target location. However, this featureis not limited to such scenarios.

In some embodiments, once the UAV 200 arrives at the general area of atarget delivery location, the UAV 200 may utilize a beacon from a user'sremote device (e.g., the user's mobile phone) to locate the person. Sucha beacon may take various forms. As an example, consider the scenariowhere a remote device, such as the mobile phone of a person whorequested a UAV delivery, is able to send out directional signals (e.g.,via an RF signal, a light signal and/or an audio signal). In thisscenario, the UAV 200 may be configured to navigate by “sourcing” suchdirectional signals—in other words, by determining where the signal isstrongest and navigating accordingly. As another example, a mobiledevice can emit a frequency, either in the human range or outside thehuman range, and the UAV 200 can listen for that frequency and navigateaccordingly. As a related example, if the UAV 200 is listening forspoken commands, then the UAV 200 could utilize spoken statements, suchas “I'm over here!” to source the specific location of the personrequesting delivery of a payload.

In an alternative arrangement, a navigation module may be implemented ata remote computing device, which communicates wirelessly with the UAV200. The remote computing device may receive data indicating theoperational state of the UAV 200, sensor data from the UAV 200 thatallows it to assess the environmental conditions being experienced bythe UAV 200, and/or location information for the UAV 200. Provided withsuch information, the remote computing device may determine altitudinaland/or directional adjustments that should be made by the UAV 200 and/ormay determine how the UAV 200 should adjust its mechanical features(e.g., its rudder(s), elevator(s), aileron(s), and/or the speed of itspropeller(s)) in order to effectuate such movements. The remotecomputing system may then communicate such adjustments to the UAV 200 soit can move in the determined manner.

C. Communication Systems

In a further aspect, the UAV 200 includes one or more communicationsystems 218. The communications systems 218 may include one or morewireless interfaces and/or one or more wireline interfaces, which allowthe UAV 200 to communicate via one or more networks. Such wirelessinterfaces may provide for communication under one or more wirelesscommunication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802.16standard), a radio-frequency ID (RFID) protocol, near-fieldcommunication (NFC), and/or other wireless communication protocols. Suchwireline interfaces may include an Ethernet interface, a UniversalSerial Bus (USB) interface, or similar interface to communicate via awire, a twisted pair of wires, a coaxial cable, an optical link, afiber-optic link, or other physical connection to a wireline network.

In some embodiments, a UAV 200 may include communication systems 218that allow for both short-range communication and long-rangecommunication. For example, the UAV 200 may be configured forshort-range communications using Bluetooth and for long-rangecommunications under a CDMA protocol. In such an embodiment, the UAV 200may be configured to function as a “hot spot;” or in other words, as agateway or proxy between a remote support device and one or more datanetworks, such as a cellular network and/or the Internet. Configured assuch, the UAV 200 may facilitate data communications that the remotesupport device would otherwise be unable to perform by itself.

For example, the UAV 200 may provide a WiFi connection to a remotedevice, and serve as a proxy or gateway to a cellular service provider'sdata network, which the UAV might connect to under an LTE or a 3Gprotocol, for instance. The UAV 200 could also serve as a proxy orgateway to a high-altitude balloon network, a satellite network, or acombination of these networks, among others, which a remote device mightnot be able to otherwise access.

D. Power Systems

In a further aspect, the UAV 200 may include power system(s) 220. Thepower system 220 may include one or more batteries for providing powerto the UAV 200. In one example, the one or more batteries may berechargeable and each battery may be recharged via a wired connectionbetween the battery and a power supply and/or via a wireless chargingsystem, such as an inductive charging system that applies an externaltime-varying magnetic field to an internal battery.

E. Payload Delivery

The UAV 200 may employ various systems and configurations in order totransport and deliver a payload 228. In some implementations, thepayload 228 of a given UAV 200 may include or take the form of a“package” designed to transport various goods to a target deliverylocation. For example, the UAV 200 can include a compartment, in whichan item or items may be transported. Such a package may one or more fooditems, purchased goods, medical items, or any other object(s) having asize and weight suitable to be transported between two locations by theUAV. In other embodiments, a payload 228 may simply be the one or moreitems that are being delivered (e.g., without any package housing theitems).

In some embodiments, the payload 228 may be attached to the UAV andlocated substantially outside of the UAV during some or all of a flightby the UAV. For example, the package may be tethered or otherwisereleasably attached below the UAV during flight to a target location. Inan embodiment where a package carries goods below the UAV, the packagemay include various features that protect its contents from theenvironment, reduce aerodynamic drag on the system, and prevent thecontents of the package from shifting during UAV flight.

For instance, when the payload 228 takes the form of a package fortransporting items, the package may include an outer shell constructedof water-resistant cardboard, plastic, or any other lightweight andwater-resistant material. Further, in order to reduce drag, the packagemay feature smooth surfaces with a pointed front that reduces thefrontal cross-sectional area. Further, the sides of the package maytaper from a wide bottom to a narrow top, which allows the package toserve as a narrow pylon that reduces interference effects on the wing(s)of the UAV. This may move some of the frontal area and volume of thepackage away from the wing(s) of the UAV, thereby preventing thereduction of lift on the wing(s) cause by the package. Yet further, insome embodiments, the outer shell of the package may be constructed froma single sheet of material in order to reduce air gaps or extramaterial, both of which may increase drag on the system. Additionally oralternatively, the package may include a stabilizer to dampen packageflutter. This reduction in flutter may allow the package to have a lessrigid connection to the UAV and may cause the contents of the package toshift less during flight.

In order to deliver the payload, the UAV may include a winch system 221controlled by the tether control module 216 in order to lower thepayload 228 to the ground while the UAV hovers above. As shown in FIG.2, the winch system 221 may include a tether 224, and the tether 224 maybe coupled to the payload 228 by a payload coupling apparatus 226. Thetether 224 may be wound on a spool that is coupled to a motor 222 of theUAV. The motor 222 may take the form of a DC motor (e.g., a servo motor)that can be actively controlled by a speed controller. The tethercontrol module 216 can control the speed controller to cause the motor222 to rotate the spool, thereby unwinding or retracting the tether 224and lowering or raising the payload coupling apparatus 226. In practice,the speed controller may output a desired operating rate (e.g., adesired RPM) for the spool, which may correspond to the speed at whichthe tether 224 and payload 228 should be lowered towards the ground. Themotor 222 may then rotate the spool so that it maintains the desiredoperating rate.

In order to control the motor 222 via the speed controller, the tethercontrol module 216 may receive data from a speed sensor (e.g., anencoder) configured to convert a mechanical position to a representativeanalog or digital signal. In particular, the speed sensor may include arotary encoder that may provide information related to rotary position(and/or rotary movement) of a shaft of the motor or the spool coupled tothe motor, among other possibilities. Moreover, the speed sensor maytake the form of an absolute encoder and/or an incremental encoder,among others. So in an example implementation, as the motor 222 causesrotation of the spool, a rotary encoder may be used to measure thisrotation. In doing so, the rotary encoder may be used to convert arotary position to an analog or digital electronic signal used by thetether control module 216 to determine the amount of rotation of thespool from a fixed reference angle and/or to an analog or digitalelectronic signal that is representative of a new rotary position, amongother options. Other examples are also possible.

Based on the data from the speed sensor, the tether control module 216may determine a rotational speed of the motor 222 and/or the spool andresponsively control the motor 222 (e.g., by increasing or decreasing anelectrical current supplied to the motor 222) to cause the rotationalspeed of the motor 222 to match a desired speed. When adjusting themotor current, the magnitude of the current adjustment may be based on aproportional-integral-derivative (PID) calculation using the determinedand desired speeds of the motor 222. For instance, the magnitude of thecurrent adjustment may be based on a present difference, a pastdifference (based on accumulated error over time), and a futuredifference (based on current rates of change) between the determined anddesired speeds of the spool.

In some embodiments, the tether control module 216 may vary the rate atwhich the tether 224 and payload 228 are lowered to the ground. Forexample, the speed controller may change the desired operating rateaccording to a variable deployment-rate profile and/or in response toother factors in order to change the rate at which the payload 228descends toward the ground. To do so, the tether control module 216 mayadjust an amount of braking or an amount of friction that is applied tothe tether 224. For example, to vary the tether deployment rate, the UAV200 may include friction pads that can apply a variable amount ofpressure to the tether 224. As another example, the UAV 200 can includea motorized braking system that varies the rate at which the spool letsout the tether 224. Such a braking system may take the form of anelectromechanical system in which the motor 222 operates to slow therate at which the spool lets out the tether 224. Further, the motor 222may vary the amount by which it adjusts the speed (e.g., the RPM) of thespool, and thus may vary the deployment rate of the tether 224. Otherexamples are also possible.

In some embodiments, the tether control module 216 may be configured tolimit the motor current supplied to the motor 222 to a maximum value.With such a limit placed on the motor current, there may be situationswhere the motor 222 cannot operate at the desired operate specified bythe speed controller. For instance, as discussed in more detail below,there may be situations where the speed controller specifies a desiredoperating rate at which the motor 222 should retract the tether 224toward the UAV 200, but the motor current may be limited such that alarge enough downward force on the tether 224 would counteract theretracting force of the motor 222 and cause the tether 224 to unwindinstead. And as further discussed below, a limit on the motor currentmay be imposed and/or altered depending on an operational state of theUAV 200.

In some embodiments, the tether control module 216 may be configured todetermine a status of the tether 224 and/or the payload 228 based on theamount of current supplied to the motor 222. For instance, if a downwardforce is applied to the tether 224 (e.g., if the payload 228 is attachedto the tether 224 or if the tether 224 gets snagged on an object whenretracting toward the UAV 200), the tether control module 216 may needto increase the motor current in order to cause the determinedrotational speed of the motor 222 and/or spool to match the desiredspeed. Similarly, when the downward force is removed from the tether 224(e.g., upon delivery of the payload 228 or removal of a tether snag),the tether control module 216 may need to decrease the motor current inorder to cause the determined rotational speed of the motor 222 and/orspool to match the desired speed. As such, the tether control module 216may be configured to monitor the current supplied to the motor 222. Forinstance, the tether control module 216 could determine the motorcurrent based on sensor data received from a current sensor of the motoror a current sensor of the power system 220. In any case, based on thecurrent supplied to the motor 222, determine if the payload 228 isattached to the tether 224, if someone or something is pulling on thetether 224, and/or if the payload coupling apparatus 226 is pressingagainst the UAV 200 after retracting the tether 224. Other examples arepossible as well.

During delivery of the payload 228, the payload coupling apparatus 226can be configured to secure the payload 228 while being lowered from theUAV by the tether 224, and can be further configured to release thepayload 228 upon reaching ground level. The payload coupling apparatus226 can then be retracted to the UAV by reeling in the tether 224 usingthe motor 222.

In some implementations, the payload 228 may be passively released onceit is lowered to the ground. For example, a passive release mechanismmay include one or more swing arms adapted to retract into and extendfrom a housing. An extended swing arm may form a hook on which thepayload 228 may be attached. Upon lowering the release mechanism and thepayload 228 to the ground via a tether, a gravitational force as well asa downward inertial force on the release mechanism may cause the payload228 to detach from the hook allowing the release mechanism to be raisedupwards toward the UAV. The release mechanism may further include aspring mechanism that biases the swing arm to retract into the housingwhen there are no other external forces on the swing arm. For instance,a spring may exert a force on the swing arm that pushes or pulls theswing arm toward the housing such that the swing arm retracts into thehousing once the weight of the payload 228 no longer forces the swingarm to extend from the housing. Retracting the swing arm into thehousing may reduce the likelihood of the release mechanism snagging thepayload 228 or other nearby objects when raising the release mechanismtoward the UAV upon delivery of the payload 228.

Active payload release mechanisms are also possible. For example,sensors such as a barometric pressure based altimeter and/oraccelerometers may help to detect the position of the release mechanism(and the payload) relative to the ground. Data from the sensors can becommunicated back to the UAV and/or a control system over a wirelesslink and used to help in determining when the release mechanism hasreached ground level (e.g., by detecting a measurement with theaccelerometer that is characteristic of ground impact). In otherexamples, the UAV may determine that the payload has reached the groundbased on a weight sensor detecting a threshold low downward force on thetether and/or based on a threshold low measurement of power drawn by thewinch when lowering the payload.

Other systems and techniques for delivering a payload, in addition or inthe alternative to a tethered delivery system are also possible. Forexample, a UAV 200 could include an air-bag drop system or a parachutedrop system. Alternatively, a UAV 200 carrying a payload could simplyland on the ground at a delivery location. Other examples are alsopossible.

IV. Illustrative UAV Deployment Systems

UAV systems may be implemented in order to provide various UAV-relatedservices. In particular, UAVs may be provided at a number of differentlaunch sites that may be in communication with regional and/or centralcontrol systems. Such a distributed UAV system may allow UAVs to bequickly deployed to provide services across a large geographic area(e.g., that is much larger than the flight range of any single UAV). Forexample, UAVs capable of carrying payloads may be distributed at anumber of launch sites across a large geographic area (possibly eventhroughout an entire country, or even worldwide), in order to provideon-demand transport of various items to locations throughout thegeographic area. FIG. 3 is a simplified block diagram illustrating adistributed UAV system 300, according to an example embodiment.

In the illustrative UAV system 300, an access system 302 may allow forinteraction with, control of, and/or utilization of a network of UAVs304. In some embodiments, an access system 302 may be a computing systemthat allows for human-controlled dispatch of UAVs 304. As such, thecontrol system may include or otherwise provide a user interface throughwhich a user can access and/or control the UAVs 304.

In some embodiments, dispatch of the UAVs 304 may additionally oralternatively be accomplished via one or more automated processes. Forinstance, the access system 302 may dispatch one of the UAVs 304 totransport a payload to a target location, and the UAV may autonomouslynavigate to the target location by utilizing various on-board sensors,such as a GPS receiver and/or other various navigational sensors.

Further, the access system 302 may provide for remote operation of aUAV. For instance, the access system 302 may allow an operator tocontrol the flight of a UAV via its user interface. As a specificexample, an operator may use the access system 302 to dispatch a UAV 304to a target location. The UAV 304 may then autonomously navigate to thegeneral area of the target location. At this point, the operator may usethe access system 302 to take control of the UAV 304 and navigate theUAV to the target location (e.g., to a particular person to whom apayload is being transported). Other examples of remote operation of aUAV are also possible.

In an illustrative embodiment, the UAVs 304 may take various forms. Forexample, each of the UAVs 304 may be a UAV such as those illustrated inFIGS. 1A-1E. However, UAV system 300 may also utilize other types ofUAVs without departing from the scope of the invention. In someimplementations, all of the UAVs 304 may be of the same or a similarconfiguration. However, in other implementations, the UAVs 304 mayinclude a number of different types of UAVs. For instance, the UAVs 304may include a number of types of UAVs, with each type of UAV beingconfigured for a different type or types of payload deliverycapabilities.

The UAV system 300 may further include a remote device 306, which maytake various forms. Generally, the remote device 306 may be any devicethrough which a direct or indirect request to dispatch a UAV can bemade. (Note that an indirect request may involve any communication thatmay be responded to by dispatching a UAV, such as requesting a packagedelivery). In an example embodiment, the remote device 306 may be amobile phone, tablet computer, laptop computer, personal computer, orany network-connected computing device. Further, in some instances, theremote device 306 may not be a computing device. As an example, astandard telephone, which allows for communication via plain oldtelephone service (POTS), may serve as the remote device 306. Othertypes of remote devices are also possible.

Further, the remote device 306 may be configured to communicate withaccess system 302 via one or more types of communication network(s) 308.For example, the remote device 306 may communicate with the accesssystem 302 (or a human operator of the access system 302) bycommunicating over a POTS network, a cellular network, and/or a datanetwork such as the Internet. Other types of networks may also beutilized.

In some embodiments, the remote device 306 may be configured to allow auser to request delivery of one or more items to a desired location. Forexample, a user could request UAV delivery of a package to their homevia their mobile phone, tablet, or laptop. As another example, a usercould request dynamic delivery to wherever they are located at the timeof delivery. To provide such dynamic delivery, the UAV system 300 mayreceive location information (e.g., GPS coordinates, etc.) from theuser's mobile phone, or any other device on the user's person, such thata UAV can navigate to the user's location (as indicated by their mobilephone).

In an illustrative arrangement, the central dispatch system 310 may be aserver or group of servers, which is configured to receive dispatchmessages requests and/or dispatch instructions from the access system302. Such dispatch messages may request or instruct the central dispatchsystem 310 to coordinate the deployment of UAVs to various targetlocations. The central dispatch system 310 may be further configured toroute such requests or instructions to one or more local dispatchsystems 312. To provide such functionality, the central dispatch system310 may communicate with the access system 302 via a data network, suchas the Internet or a private network that is established forcommunications between access systems and automated dispatch systems.

In the illustrated configuration, the central dispatch system 310 may beconfigured to coordinate the dispatch of UAVs 304 from a number ofdifferent local dispatch systems 312. As such, the central dispatchsystem 310 may keep track of which UAVs 304 are located at which localdispatch systems 312, which UAVs 304 are currently available fordeployment, and/or which services or operations each of the UAVs 304 isconfigured for (in the event that a UAV fleet includes multiple types ofUAVs configured for different services and/or operations). Additionallyor alternatively, each local dispatch system 312 may be configured totrack which of its associated UAVs 304 are currently available fordeployment and/or are currently in the midst of item transport.

In some cases, when the central dispatch system 310 receives a requestfor UAV-related service (e.g., transport of an item) from the accesssystem 302, the central dispatch system 310 may select a specific UAV304 to dispatch. The central dispatch system 310 may accordinglyinstruct the local dispatch system 312 that is associated with theselected UAV to dispatch the selected UAV. The local dispatch system 312may then operate its associated deployment system 314 to launch theselected UAV. In other cases, the central dispatch system 310 mayforward a request for a UAV-related service to a local dispatch system312 that is near the location where the support is requested and leavethe selection of a particular UAV 304 to the local dispatch system 312.

In an example configuration, the local dispatch system 312 may beimplemented as a computing system at the same location as the deploymentsystem(s) 314 that it controls. For example, the local dispatch system312 may be implemented by a computing system installed at a building,such as a warehouse, where the deployment system(s) 314 and UAV(s) 304that are associated with the particular local dispatch system 312 arealso located. In other embodiments, the local dispatch system 312 may beimplemented at a location that is remote to its associated deploymentsystem(s) 314 and UAV(s) 304.

Numerous variations on and alternatives to the illustrated configurationof the UAV system 300 are possible. For example, in some embodiments, auser of the remote device 306 could request delivery of a packagedirectly from the central dispatch system 310. To do so, an applicationmay be implemented on the remote device 306 that allows the user toprovide information regarding a requested delivery, and generate andsend a data message to request that the UAV system 300 provide thedelivery. In such an embodiment, the central dispatch system 310 mayinclude automated functionality to handle requests that are generated bysuch an application, evaluate such requests, and, if appropriate,coordinate with an appropriate local dispatch system 312 to deploy aUAV.

Further, some or all of the functionality that is attributed herein tothe central dispatch system 310, the local dispatch system(s) 312, theaccess system 302, and/or the deployment system(s) 314 may be combinedin a single system, implemented in a more complex system, and/orredistributed among the central dispatch system 310, the local dispatchsystem(s) 312, the access system 302, and/or the deployment system(s)314 in various ways.

Yet further, while each local dispatch system 312 is shown as having twoassociated deployment systems 314, a given local dispatch system 312 mayalternatively have more or fewer associated deployment systems 314.Similarly, while the central dispatch system 310 is shown as being incommunication with two local dispatch systems 312, the central dispatchsystem 310 may alternatively be in communication with more or fewerlocal dispatch systems 312.

In a further aspect, the deployment systems 314 may take various forms.In general, the deployment systems 314 may take the form of or includesystems for physically launching one or more of the UAVs 304. Suchlaunch systems may include features that provide for an automated UAVlaunch and/or features that allow for a human-assisted UAV launch.Further, the deployment systems 314 may each be configured to launch oneparticular UAV 304, or to launch multiple UAVs 304.

The deployment systems 314 may further be configured to provideadditional functions, including for example, diagnostic-relatedfunctions such as verifying system functionality of the UAV, verifyingfunctionality of devices that are housed within a UAV (e.g., a payloaddelivery apparatus), and/or maintaining devices or other items that arehoused in the UAV (e.g., by monitoring a status of a payload such as itstemperature, weight, etc.).

In some embodiments, the deployment systems 314 and their correspondingUAVs 304 (and possibly associated local dispatch systems 312) may bestrategically distributed throughout an area such as a city. Forexample, the deployment systems 314 may be strategically distributedsuch that each deployment system 314 is proximate to one or more payloadpickup locations (e.g., near a restaurant, store, or warehouse).However, the deployment systems 314 (and possibly the local dispatchsystems 312) may be distributed in other ways, depending upon theparticular implementation. As an additional example, kiosks that allowusers to transport packages via UAVs may be installed in variouslocations. Such kiosks may include UAV launch systems, and may allow auser to provide their package for loading onto a UAV and pay for UAVshipping services, among other possibilities. Other examples are alsopossible.

In a further aspect, the UAV system 300 may include or have access to auser-account database 316. The user-account database 316 may includedata for a number of user accounts, and which are each associated withone or more person. For a given user account, the user-account database316 may include data related to or useful in providing UAV-relatedservices. Typically, the user data associated with each user account isoptionally provided by an associated user and/or is collected with theassociated user's permission.

Further, in some embodiments, a person may be required to register for auser account with the UAV system 300, if they wish to be provided withUAV-related services by the UAVs 304 from UAV system 300. As such, theuser-account database 316 may include authorization information for agiven user account (e.g., a user name and password), and/or otherinformation that may be used to authorize access to a user account.

In some embodiments, a person may associate one or more of their deviceswith their user account, such that they can access the services of UAVsystem 300. For example, when a person uses an associated mobile phone,e.g., to place a call to an operator of the access system 302 or send amessage requesting a UAV-related service to a dispatch system, the phonemay be identified via a unique device identification number, and thecall or message may then be attributed to the associated user account.Other examples are also possible.

V. Example Payload Coupling Apparatuses for Payload Retrieval andDelivery

FIGS. 4A-F show various perspective views of payload coupling apparatus800, according to an example embodiment. Payload coupling apparatus 800includes an upper portion 805 having a left side 805 a and a right side805 b. Upper portion 805 is shown as having a hemispherical shape,although other shapes and configurations, such as a cone-shape, arepossible as well. Payload coupling apparatus 800 also includes a slot808 to position a handle of a payload handle in. Lower lip, or hook, 806is positioned beneath slot 808, with lip or hook 806 having a left side806 a and a right side 806 b. Slot 808 and lip or hook 806 are shown ina particular configuration, although payload coupling apparatus 800 maybe provided with a slot of any suitable geometry or configuration, and ahook or lip of any suitable geometry or configuration suitable for thepositioning of a handle of a payload within the slot above the hook orlip.

Payload coupling apparatus 800 further includes a side wall 810 having aleft side 810 a and right side 810 b. Also included is an outerprotrusion 844 having helical cam surfaces 804 a and 804 b that areadapted to mate with corresponding cam mating surfaces within a payloadcoupling apparatus receptacle 516 positioned with a fuselage of a UAV(as shown in FIG. 8E), to properly align payload coupling apparatus 800within the payload coupling apparatus receptacle 516.

Upper portion 805 includes a plurality of holes (described in moredetail below) that extend from an exterior thereof into an interior ofthe payload coupling apparatus 800. Holes on the left side 805 a areshown to be symmetrical in size and position with holes on the rightside 805 b of upper portion 805. Similarly, side wall 810 includes aplurality of holes with holes on the left side 810 a symmetrical in sizeand position with holes on the right side 810 b of side wall 810.

Lower lip or hook 806 includes hole 860 on left side 806 a symmetricalin size and position with hole 864 on right side 806 b, and hole 861 onleft side 806 a symmetrical in size and position with hole 863 on rightside 806 b. Although not visible in FIGS. 4A-F, hook or lip 806 furtherincludes one or more holes an upper surface thereof. In addition, uppersurface 820 of slot 808 includes a hole 822 that extends in symmetricalfashion from the left side to the right side of upper surface 820. Uppersurface 820 further includes hole 824 that extends in symmetricalfashion from the left side to the right side of upper surface 820. Inaddition, hole 884 is positioned above cam surface 804 b that issymmetrical in size and position with hole 885 positioned above camsurface 804 a.

As shown in FIGS. 4B and 4C, right side 810 b of side wall 810 includesa an outer protrusion 874 having a cam surface 875 that is adapted tomate with corresponding cam mating surfaces within a payload couplingapparatus receptacle 516 positioned with a fuselage of a UAV (as shownin FIG. 8E), to properly align payload coupling apparatus 800 within thepayload coupling apparatus receptacle 516.

As shown in FIGS. 4B and 4D, upper portion 805 includes an opening 809through which an end of a tether may extend through for connectionwithin upper portion 805, or any other location within payload couplingapparatus 800. Alternately, an end of a tether could be simply attachedto the point where opening 809 is positioned. Also shown in FIG. 4D area pair of symmetrical holes 880 and 881 positioned on side wall 810above cam surface 875 of outer protrusion 874. Also shown, aresymmetrical holes 882 and 883 positioned next to holes 880 and 881.

As shown in FIG. 4E, the rear side of lower portion of payload couplingapparatus 800 includes a hole 818 on the left side 806 a symmetrical insize and position with hole 819 on right side 806 b. Similarly, the rearside of lower portion of payload coupling apparatus 800 includes a hole801 on left side 806 a symmetrical in size and position with hole 811 onright side 806 b, and also includes hole 803 on left side 806 asymmetrical in size and position with hole 813 on right side 806 b.

As shown in FIG. 4E, a hole 815 is shown positioned beneath outerprotrusion 874 that is symmetrical in size and position with hole 817positioned beneath outer protrusion 844 (shown in FIG. 4F).

FIGS. 5A-F show side views, front and rear views, and top and bottomviews of payload coupling apparatus 800 shown in FIGS. 4A-F. FIG. 5A isa left side view of payload coupling apparatus 800. Payload couplingapparatus 800 includes an upper portion 805 having left side 805 a witha plurality of holes therein (described in more detail below). Payloadcoupling apparatus 800 also includes a slot 808 to position a handle ofa payload handle in. Lower lip, or hook, 806 is positioned beneath slot808, with lip or hook 806 with left side 806 a shown. Slot 808 isdownwardly angled such that a handle 511 of a payload 510 may bepositioned within the 808 slot with hook or lip 806 of the payloadcoupling apparatus 800 extending through an aperture 513 of handle 511during payload pickup and delivery, as illustrated in FIGS. 7, 8A, and8B.

Payload coupling apparatus 800 further includes a side wall 810 withleft side 810 a shown. Also included is an outer protrusion 844 havinghelical cam surfaces 804 a and 804 b that are adapted to mate withcorresponding cam mating surfaces within a payload coupling apparatusreceptacle 516 positioned with a fuselage of a UAV (as shown in FIG.8E), to properly align payload coupling apparatus 800 within the payloadcoupling apparatus receptacle 516. Hole 884 is positioned above camsurface 804 b that is symmetrical in size and position with hole 885positioned above cam surface 804 a.

Outer protrusion 844 includes hole 850 that is symmetrical in size andposition with hole 870 positioned in outer protrusion 874 (shown in FIG.5B). Outer protrusion 844 also includes hole 851 that is symmetrical insize and position with hole 871 positioned in outer protrusion 874, andfurther includes hole 852 that is symmetrical in size and position withhole 872 positioned in outer protrusion 874 (shown in FIG. 5B).Furthermore, outer protrusion 874 also includes hole 853 that issymmetrical in position with hole 873 positioned on outer protrusion 874(shown in FIG. 5B). Moreover, hole 817 is positioned beneath outerprotrusion 844 that is symmetrical in size and position with hole 815positioned beneath outer protrusion 874 (shown in FIG. 5B).

FIG. 5B is a right side view of payload coupling apparatus 800. In FIG.5B, a pair of symmetrical holes 880 and 881 are positioned on right side810 b of side wall 810 above cam surface 875 of outer protrusion 874.Also shown are symmetrical holes 882 and 883 positioned next to holes880 and 881.

FIG. 5C is a rear view of payload coupling apparatus 800. Left side 810a of side wall 810 includes hole 885 that is symmetrical in size andposition with hole 882 on right side 810 b. Left side 810 a of side wall810 includes hole 896 that is symmetrical in size and position with hole882 on right side 810 b. Left side 810 a of side wall 810 includes hole896 that is symmetrical in size and position with hole 891 on right side810 b. Left side 810 a of side wall 810 includes hole 897 that issymmetrical in size and position with hole 892 on right side 810 b.

In addition, left side 810 a of side wall 810 includes hole 895 that issymmetrical in size and position with hole 893 on right side 810 b. Leftside 810 a of side wall 810 includes hole 898 that is symmetrical insize and position with hole 894 on right side 810 b. Left side 810 a ofside wall 810 includes hole 905 that is symmetrical in size and positionwith hole 911 on right side 810 b. Left side 810 a of side wall 810includes hole 907 that is symmetrical in size and position with hole909. On right side 810 b.

The rear side of hook or lip 806 includes left side 806 a with hole 803that is symmetrical in size and position with hole 813 on right side 806b. Left side 806 a includes hole 801 that is symmetrical in size andposition with hole 811 on right side 806 b. In addition, left side 806 aincludes hole 818 that is symmetrical in size and position with hole 819on right side 806 a. Also shown, is hole 817 positioned beneath outerprotrusion 844 that is symmetrical in size and position with hole 815positioned beneath outer protrusion 874.

FIG. 5D is a front view of payload coupling apparatus 800. Hole 918 ispositioned above outer protrusion 844 on left side 810 a of side wall810 which is symmetrical in size and position with hole 883 positionedabove outer protrusion 874 on the right side 810 b of side wall 810.Left side 810 a of side wall 810 includes hole 919 that is symmetricalin size and position with hole 914 on right side 810 b. Left side 810 aof side wall 810 includes hole 922 that is symmetrical in size andposition with hole 916 on right side 810 b. Left side 810 a of side wall810 includes hole 920 that is symmetrical in size and position with hole915 on right side 810 b. Left side 810 a of side wall 810 includes hole921 that is symmetrical in size and position with hole 917 on right side810 b.

Lower lip or hook 806 includes hole 860 on left side 806 a symmetricalin size and position with hole 864 on right side 806 b, and hole 861 onleft side 806 a symmetrical in size and position with hole 863 on rightside 806 b. Hook or lip 806 further includes hole 985 on an uppersurface thereof (shown in FIG. 6A). In addition, upper surface 820 ofslot 808 includes a hole 822 that extends in symmetrical fashion fromthe left side to the right side of upper surface 820. Upper surface 820further includes hole 824 that extends in symmetrical fashion from theleft side to the right side of upper surface 820.

FIG. 5E is a top view of payload coupling apparatus 800. Hole 809 iscentrally located on the top of upper portion 805, and an end of atether may extend therethrough and be attached on the inside of payloadcoupling apparatus 800. Left side 805 a of upper portion 805 includes apair of spaced holes 935 and 936 that are symmetrical in size andposition with pair of holes 931 and 932 on right side 805 b. Left side805 a of upper portion includes a pair of holes 939 and 940 that aresymmetrical in size and position with pair of holes 943 and 944 on rightside 805 b. Left side 805 a of upper portion 805 includes holes 934 and949 that are symmetrical in size and position with pair of holes 933 and938 on right side 805 b. Left side 805 a of upper portion 805 includes apair of holes 941 and 938 that are symmetrical in size and position withpair of holes 937 and 942 on right side 805 b.

Left side 805 a of upper portion 805 further includes a pair of spacedholes 966 and 967 that are symmetrical in size and position with pair ofholes 960 and 961 on right side 805 b. Left side 805 a of upper portionincludes a pair of holes 964 and 965 that are symmetrical in size andposition with pair of holes 962 and 963 on right side 805 b.

FIG. 5F is a bottom view of payload coupling apparatus 800. Hole 861 ispositioned on the left side 806 a of bottom of lower hook or lip 806that is symmetrical in size and position with hole 863 positioned onright side 806 b. Left side 806 a further includes hole 860 that issymmetrical in size and position with hole 864 on right side 806 b. Leftside 806 a includes hole 818 that is symmetrical in size and positionwith hole 819 on right side 8060 b.

Hole 824 is shown extending symmetrically from the left side to theright side of upper surface 820 of slot 808. Left side 806 a includeshole 817 that is symmetrical in size and position with hole 815 on rightside 806 b. In addition, a pair of holes 801 and 803 are positioned onright side 806 a that are symmetrical in size and position with pair ofholes 811 and 813 positioned on right side 806 b.

It will be appreciated that the size, position, geometry, andconfiguration of the various hole described above may be changed todifferent sizes, positions, geometries, and configurations. Preferably,although not required, holes positioned on the left side of the payloadcoupling apparatus 800 are symmetrical in size and position with theholes positioned on the right side of payload coupling apparatus 800.

As shown in FIGS. 6A and 6B, payload coupling apparatus may be formedwith a left side 800 a and right side 800 b. Left and right sides 800 aand 800 b may be molded, or 3D printed, and made of any suitablematerial. Left and right sides 800 a and 800 b may be joined togetherwith an adhesive, or heat sealed together. A fastener such as a bolt mayextend through hole 873 in right side 800 b and thread into mountingextension 873 a within left side 800 b, which further serves to holdleft side 800 a together with right side 800 b.

As shown in FIGS. 9A and 9B, because of the many holes in the surface ofpayload coupling apparatus 800, it is lighter than payload couplingapparatus 800′ that has smooth walls and is without holes, but has thesame size and configuration as payload coupling apparatus 800.

As shown in FIGS. 6A and 6B, a weighted disc 950 may be positionedwithin payload coupling apparatus 800. The weighted disc 950 may beslightly heavier than a weighted disc of a standard smooth-walledcapsule to account for less material being used as a result of havingthe holes in payload coupling apparatus 800. In addition, weighted disc950 may include a centrally located aperture 952. As the payloadcoupling apparatus 800 moves through the air during UAV flight and/orretraction, air may flow through upper portion 805, through aperture 952and through the lower end of payload coupling apparatus 800. Air flowthrough the holes in payload coupling apparatus 800 provide stability tothe payload coupling apparatus 800 during UAV flight and/or retraction.It will be appreciated that aperture 952 could be replaced with aplurality of holes on weighted disc 950 having various sizes andgeometries, which may or may not be symmetrical with respect to eachother.

FIG. 7 is a side view of payload handle 511 that is attached payload 510(shown in FIGS. 8A-D), according to an example embodiment. The handle511 includes aperture 513 through which the hook or lip 806 of a payloadcoupling apparatus 800 extends through to suspend the payload duringdelivery, or during retrieval. The handle 511 includes a lower portion515 that is secured to the top portion of a payload. Also included areholes 524 and 526 through which are adapted to receive locking pins (notshown) positioned within the fuselage of a UAV, where the locking pinsmay extend to further secure the handle and payload in a secure positionduring high speed forward flight to a delivery location. The handle 511may be comprised of a thin, flexible plastic material that is flexibleand provides sufficient strength to suspend the payload beneath a UAVduring forward flight to a delivery site, and during delivery and/orretrieval of a payload. In practice, the handle may be bent or flexed tosecure the handle 511 within the slot 808 of the payload retriever 800.The handle 511 also has sufficient strength to withstand the torqueduring rotation of the payload retriever into the desired orientationwithin the payload receptacle, and rotation of the top portion of thepayload into position within the recessed restraint slot 540 (shown inFIG. 8E).

FIG. 8A is a perspective view of payload 510 and payload couplingapparatus 800 shown suspended by tether 990 from a UAV, above payloadlanding site 980, according to an example embodiment. As payload 510 islowered to the payload landing site 980, the payload is suspended frompayload coupling apparatus 800, with hook or lip 806 extending throughaperture 513 of handle 511 of payload 510.

FIG. 8B is a perspective view of payload 510 and payload couplingapparatus 800 being lowered by a UAV onto payload landing site 980. FIG.8C is a perspective view of payload 510 positioned on payload landingsite 980 after payload coupling apparatus 800 has been lowered and movedout of engagement with handle 511 of payload 510.

FIG. 8D is a perspective view of payload coupling apparatus 800 beingretracted to UAV 100 after delivery of payload 510. FIG. 8E is aperspective view of payload coupling apparatus 800 being retractedtowards payload coupling apparatus receptacle 516.

FIGS. 9A and 9B are a perspective side by side view of payload couplingapparatus 800 having a plurality of holes and payload coupling apparatus800′ having no holes and smooth walls. Payload coupling apparatus 800′includes a hemispherically-shaped upper portion 805′, side wall 810′,outer protrusion 844′ and hook or lip 806′.

After delivering payload 510, as shown in FIG. 8D, the payload couplingapparatus 800 is disengaged from the handle 511 of payload 510, and theUAV 100 may move into forward flight to another payload retrieval siteor charging station, with the payload coupling apparatus 800 suspendedfrom the UAV at the end of the winch line 990. As the UAV 100 movesforward, the payload coupling apparatus 800 may be winched back towardsthe UAV 100 at the same time. In this manner, the UAV 100 does not haveto wait until the payload coupling apparatus 800 has been winched allthe way back to the UAV 100 before the UAV 100 moves towards the nextdestination.

As noted above, the payload coupling apparatus 800 is subject tooscillations, and may begin to swing from side to side as the UAV 100moves into forward flight. In order to dampen the oscillations, the UAV100 moves into a forward flight where airflow serves to reduceoscillations of the payload coupling apparatus 800. When using a solid,smooth-walled payload coupling apparatus 800′ shown in FIG. 9B, forwardmovement of the UAV 100 at air speeds of around 20 meters per second(m/s) may be effective to dampen the oscillations of the payloadcoupling apparatus 800′. However, if the air speed is too low, less than19 m/s, then dampening effect on the oscillations of the payload isreduced and might not be sufficient. In addition, at speeds above 22m/s, the payload coupling apparatus 800′ becomes unstable with theincreased airflow and bounces around wildly and may strike the UAV, andthere is the possibility of engagement with the rotors of the UAV.Therefore, when using a solid, smooth-walled payload coupling apparatus800′, only a narrow range of air speeds from 19-22 m/s are suitable todampen the oscillations of the payload coupling apparatus. At air speedsin the range of 19-22 m/s, depending on the UAV, this speed may be tooslow for the UAV to be “on the wing” in full forward flight requiringthat the hover motors of the UAV are still running, which increasesenergy consumption and reduces the range of the UAV.

Payload coupling apparatus 800 has the same hook and lip construction asa standard smooth-walled payload coupling apparatus 800′, butadvantageously includes a series of perforations, or holes, in the majorsurfaces of the payload coupling apparatus 800, as described above,which allow the payload coupling apparatus 800 to remain stable even atincreased air speeds of 25-35 m/s or more. The series of perforations orholes serve to stabilize the payload coupling apparatus 800 duringretraction so that it remains in a stable state, without movingerratically (as is the case when using payload coupling apparatus 800′)during high speed UAV flight of 25-35 m/s or more.

Wind tunnel testing has revealed that payload coupling apparatus 800remains stable and does not move erratically or wildly at speeds of25-35 m/s or more, whereas at that speed, payload coupling apparatus800′ swings about wildly and erratically, and is very unstable.

The symmetrically positioned holes extend through outer surfaces of thepayload coupling apparatus 800 into a hollow interior of the payloadcoupling apparatus 800. As a result, air is allowed to flow through thepayload coupling apparatus 800, i.e. through the holes on thehemispherically-shaped upper portion and through the holes in the upperand lower surfaces of the slot and hook or lip, during high speedflight, which allows for the payload coupling apparatus 800 to remain ina stable position during retraction as the UAV moves at full cruisespeed of 25-35 m/s or more.

In addition, as shown in FIGS. 6A and 6B, a weighted disc 950 may bepositioned within the payload coupling apparatus 800 to provide a“weight-forward” payload coupling apparatus 800 which contributes toincreased high speed stability. Due to less material used for thepayload coupling apparatus 800 as compared to payload coupling apparatus800′ because of the holes, the disc 950 may add additional weight to thepayload coupling apparatus 800 as compared to the weighted disc used insmooth-walled payload coupling apparatus 800′ (shown in FIG. 9B) so thata desired overall weight may be achieved that is the same as payloadcoupling apparatus 800′.

Furthermore, the weighted disc 950 may have a centrally located aperture952 that provides an aerodynamic influence on the payload couplingapparatus 800. The size of the centrally located aperture 952 in theweighted disc may be adjusted so that the payload coupling apparatus 800rides higher or lower in the air column during retraction as the UAV 100moves at full cruise speed. Of course, one or more holes may also bepositioned in weighted disc 950 which may or may not by symmetrical interms of size or position. It is desirable for the payload couplingapparatus 800 to ride as low as possible in the air column so that it isfurther away from the UAV 100 during flight, thereby further reducingthe chance of the payload coupling apparatus 800 coming into contactwith the UAV 100 during flight.

The air flow around (or through) the payload coupling apparatus 800 isbelieved to actually be more turbulent than around smooth-walled payloadcoupling apparatus 800′. The difference is that the turbulence on thepayload coupling apparatus 800 is very uniform (lots of very small andweak vortices) in comparison to the turbulence around the smooth-walledpayload coupling apparatus 800′at higher speeds is random (with big andstrong vortices). The uniformity of the turbulence is what helps toachieve the stable behavior in payload coupling apparatus 800. Inaddition, further stability is also provided by having airflow thatenters the payload coupling apparatus 800 in the front (through holes inupper portion 805) partially redirected outward to the holes in sidewall 810. The air exiting the holes of the side wall creates an aircushion which makes the payload coupling apparatus behave like a“shuttlecock,” resulting in greater stability during flight.

Using payload coupling apparatus 800 provides significant advantages incomparison to payload coupling apparatus 800′. In particular, becausethe plurality of holes in payload coupling apparatus 800 provides for astable payload coupling apparatus at speeds of 25-35 m/s or more, oncepayload coupling apparatus 800 is disengaged from a payload at a payloaddelivery site, the UAV may immediately move into full forward flight of25-35 m/s or more. The payload coupling apparatus 800 may be retractedtowards the UAV at the same time. As a result, the UAV does not have tofly at a reduced speed of 19-22 m/s (as is the case when using payloadcoupling apparatus 800′) to have a stable payload coupling apparatus,and the hover motors are not needed. Because the hover motors can beturned off during retraction, less power is required and the overallsafety is increased in the very unlikely event (because of the stabilityof payload coupling apparatus 800) of contact between payload couplingapparatus 800 and hover props (e.g., due to a sudden air turbulence incruise flight), there would be no damage to the hover propellers becausethey would not be rotating. In addition, less time is required followingpayload delivery as the payload coupling apparatus 800 is retractedbecause the UAV is able to move directly into full speed flight of 25-35m/s or more.

Furthermore, during winch up of a payload 510 to the UAV 100, high windsmay cause the payload 510 and payload coupling apparatus 800 to rotate.Once the payload coupling apparatus 800 reaches the UAV, it is drawninto a payload receptacle and cams within the payload receptacle engagewith cams on the payload coupling apparatus to align the payload in adesired position. The engagement of the cams arrests the rotation of thepayload coupling apparatus 800 and may cause the handle 511 of payload510 to “spin itself out” of the slot in the payload coupling apparatusas payload 510 continues to rotate. In order to prevent the handle 511from coming out of the slot under such conditions, as shown in FIGS.4A-C, a first indentation 650 is positioned on a left side of slot 808in left side 806 a of hook or lip 806 and a second indentation 652 ispositioned on a right side of the slot 808 in right side 806 b of hookor lip 806. First indentation 650 and second indentation 652 arrestrotation of the handle 511 as the handle 511 gets caught in theindentations. Indentations 650 and 652 serve to prevent the handle 511from “spinning itself out” of the slot 808 during rotation of payload510 caused by high winds during winch up. First and second indentations650 and 652 may also be provided on smooth-walled payload couplingapparatus 800′ shown in FIG. 9B.

VI. Conclusion

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other implementations may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anexemplary implementation may include elements that are not illustratedin the Figures.

Additionally, while various aspects and implementations have beendisclosed herein, other aspects and implementations will be apparent tothose skilled in the art. The various aspects and implementationsdisclosed herein are for purposes of illustration and are not intendedto be limiting, with the true scope and spirit being indicated by thefollowing claims. Other implementations may be utilized, and otherchanges may be made, without departing from the spirit or scope of thesubject matter presented herein. It will be readily understood that theaspects of the present disclosure, as generally described herein, andillustrated in the figures, can be arranged, substituted, combined,separated, and designed in a wide variety of different configurations,all of which are contemplated herein.

What is claimed is: What is claimed is:
 1. A payload coupling apparatuscomprising: a housing having an upper portion, a lower portion, and aside wall positioned between the upper and lower portions; an attachmentpoint on the housing adapted for attachment to a first end of a tether;a slot in the housing that extends downwardly towards a center of thehousing thereby forming a hook or lip on the lower portion of thehousing beneath the slot; a plurality of holes in the upper portion ofthe housing; and a plurality of holes in the lower portion of thehousing; wherein the housing is hollow, and air is allowed to flowthrough the plurality of holes in the upper portion of the housing,through the housing, and exit the plurality holes in the lower portionof the housing; and wherein the housing is constructed with two pieces.2. The payload coupling apparatus of claim 1, wherein a plurality ofholes are positioned in the side wall of the housing.
 3. The payloadcoupling apparatus of claim 2, wherein a first cam and a second camextend outwardly from opposite sides of the side wall, and wherein aplurality of holes are positioned on the first cam and on the secondcam.
 4. The payload coupling apparatus of claim 1, wherein the pluralityof holes on the lower portion of the housing extend through a bottomsurface of the hook or lip.
 5. The payload coupling apparatus of claim4, wherein one or more holes extend through a top surface of the hook orlip.
 6. The payload coupling apparatus of claim 5, wherein one or moreholes extend through an upper surface of the slot.
 7. The payloadcoupling apparatus of claim 1, wherein the two pieces of the housinginclude a right side and a left side.
 8. The payload coupling apparatusof claim 1, wherein the upper portion of the housing has a hemisphericalshape.
 9. The payload coupling apparatus of claim 7, wherein the twopieces of the housing are secured to each other using a fastener thatextends through one of the left side or right side of the housing and isthreaded into a mounting extension positioned on an interior of theother of the left side or right side of the housing.
 10. The payloadcoupling apparatus of claim 2, wherein air is partially directed throughthe holes in the side wall during retraction of the housing.
 11. Thepayload coupling apparatus of claim 1, wherein the plurality of holes ona left side of the lower portion of the housing are positionedsymmetrically with the plurality of holes on a right side of the lowerportion of the housing.
 12. The payload coupling apparatus of claim 1,wherein a weighted disc is positioned within the housing.
 13. Thepayload coupling apparatus of clam 12, wherein one or more holes arepositioned in the weighted disc.
 14. The payload coupling apparatus ofclaim 12, wherein the weighted disc includes a centrally locatedaperture.
 15. The payload coupling apparatus of claim 13, wherein thehousing is hollow, and air is allowed to flow through the plurality ofholes in the upper portion of the housing, through the one or more holesin the weighted disc, through the housing, and exit the plurality holesin the lower portion of the housing.
 16. The payload coupling apparatusof claim 2, wherein when the first end of the tether is attached to theattachment point on the housing, the housing remains stable when thehousing is retracted through an air flow of 25-35 m/s.
 17. The payloadcoupling apparatus of claim 2, wherein the side wall has a diameter D,and wherein when the first end of the tether is attached to theattachment point on the housing, the housing has a centerline thatremains within a distance of 2D to 3D of centerline of the housing whenthe housing is retracted through an air flow of 25-35 m/s.
 18. Thepayload coupling apparatus of claim 3, wherein a first indentation ispositioned on a right side of the slot and a second indentation ispositioned on a left side of the slot, and the first and secondindentations and first and second cams are adapted to prevent a handleof a payload from coming out of the slot during possible rotation of thepayload caused by high winds during winch up.
 19. A method of retractinga payload coupling apparatus to a UAV comprising: providing the payloadcoupling apparatus with a housing having an upper portion and a lowerportion, and a side wall positioned between the upper portion and thelower portion, the housing attached to a first end of a tether with asecond end of the tether attached to the UAV, a slot in the housing thatextends downwardly towards a center of the housing thereby forming ahook or lip on the lower portion of the housing beneath the slot, aplurality of holes in the upper portion of the housing, a plurality ofholes in the side wall of the housing, and a plurality of holespositioned in the lower portion of the housing, wherein the housing ishollow, and air is allowed to flow through the plurality of holes in theupper portion of the housing, through the housing, and exit theplurality holes in the lower portion of the housing, and wherein thehousing is constructed with two pieces; moving the UAV forward at a rateof 25-35 m/s; retracting the payload coupling apparatus towards the UAVwith the tether as the UAV moves forward at a rate of 25-35 m/s; whereinthe payload coupling apparatus remains stable during retraction of thepayload coupling apparatus.
 20. The payload method of claim 19, whereinthe two pieces of the housing are secured to each other using a fastenerthat extends through one of a left side or a right side of the housingand is threaded into a mounting extension positioned on an interior ofthe other of the left side or right side of the housing.
 21. The methodof claim 19, wherein the plurality of holes on the lower portion of thehousing extend through a bottom surface of the hook or lip; wherein aplurality of holes extend through a top surface of the hook or lip; andwherein a plurality of holes extend through an upper surface of theslot.
 22. The method of claim 19, wherein a weighted disc is positionedwithin the housing; wherein the weighted disc includes one or moreholes; and wherein the housing is hollow, and air is allowed to flowthrough the plurality of holes in the upper portion of the housing,through the one or more holes in the weighted disc, through the housing,and exit the plurality holes in the lower portion of the housing. 23.The method of claim 19, wherein a first cam and a second cam extendoutwardly from opposite sides of the side wall; and wherein a firstindentation is positioned on a right side of the slot and a secondindentation is positioned on a left side of the slot, and the first andsecond indentations and first and second cams are adapted to prevent ahandle of a payload from coming out of the slot during possible rotationof the payload caused by high winds during winch up.